Dynamic Surface Adaptive Robust Control of Unmanned Marine Vehicles with Disturbance Observer

<div>Curves of external environment disturbances <svg height="9.44254pt" id="M144" style="vertical-align:-0.2324905pt" version="1.1" viewbox="-0.0498162 -9.21005 7.23729 9.44254" width="7.23729pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M541 58L519 60C477 65 472 69 472 126V703C421 688 341 674 277 667V636C338 628 344 624 344 570V449C322 452 311 454 303 454C147 454 29 343 29 207C29 58 147 -12 233 -12C244 -12 259 -9 283 6L344 45V-13C423 10 517 22 541 26V58ZM344 80C322 66 307 64 289 64C243 64 171 111 171 234C171 386 248 412 271 412C301 412 328 395 344 360V80Z" id="g13-98"></path></g></svg> and estimations <span class="nowrap"><svg height="12.7308pt" id="M145" style="vertical-align:-0.2325001pt" version="1.1" viewbox="-0.0498162 -12.4983 7.23729 12.7308" width="7.23729pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,.502,-3.471)"><path d="M470 557C393 591 314 624 246 666H224C156 624 76 591 0 557L12 532C86 550 163 573 235 596C309 572 384 550 458 532L470 557Z" id="g119-17"></path></g><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M541 58L519 60C477 65 472 69 472 126V703C421 688 341 674 277 667V636C338 628 344 624 344 570V449C322 452 311 454 303 454C147 454 29 343 29 207C29 58 147 -12 233 -12C244 -12 259 -9 283 6L344 45V-13C423 10 517 22 541 26V58ZM344 80C322 66 307 64 289 64C243 64 171 111 171 234C171 386 248 412 271 412C301 412 328 395 344 360V80Z" id="g13-98"></path></g></svg>.</span></div>

Journal of Robotics

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Figure 3

Figure 3: Dynamic Surface Adaptive Robust Control of Unmanned Marine Vehicles with Disturbance Observer 